EP4002053A4 - Steuersystem, steuervorrichtung und steuerverfahren - Google Patents

Steuersystem, steuervorrichtung und steuerverfahren Download PDF

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Publication number
EP4002053A4
EP4002053A4 EP20839682.0A EP20839682A EP4002053A4 EP 4002053 A4 EP4002053 A4 EP 4002053A4 EP 20839682 A EP20839682 A EP 20839682A EP 4002053 A4 EP4002053 A4 EP 4002053A4
Authority
EP
European Patent Office
Prior art keywords
control
control device
control system
control method
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP20839682.0A
Other languages
English (en)
French (fr)
Other versions
EP4002053A1 (de
Inventor
Keita Shimamoto
Tsuyoshi YOKOYA
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yaskawa Electric Corp
Original Assignee
Yaskawa Electric Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from PCT/JP2019/028261 external-priority patent/WO2021009903A1/ja
Application filed by Yaskawa Electric Corp filed Critical Yaskawa Electric Corp
Publication of EP4002053A1 publication Critical patent/EP4002053A1/de
Publication of EP4002053A4 publication Critical patent/EP4002053A4/de
Pending legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B17/00—Systems involving the use of models or simulators of said systems
    • G05B17/02—Systems involving the use of models or simulators of said systems electric
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form
    • G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form characterised by monitoring or safety
    • G05B19/4062—Monitoring servoloop, e.g. overload of servomotor, loss of feedback or reference
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form
    • G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
    • G05B19/4142—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by the use of a microprocessor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37391—Null, initial load, no load torque detection or other parameter at no load
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37612—Transfer function, kinematic identification, parameter estimation, response
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37621—Inertia, mass of rotating, moving tool, workpiece, element
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37632—By measuring current, load of motor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41213—Lookup table for load, motor torque as function of actual position
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42168—Measuring of needed force for servo
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42295—Detect augmenting torque of drive motor

Landscapes

  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Power Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Human Computer Interaction (AREA)
  • Computer Hardware Design (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Control Of Electric Motors In General (AREA)
  • Control Of Position Or Direction (AREA)
  • Testing And Monitoring For Control Systems (AREA)
  • Feedback Control In General (AREA)
EP20839682.0A 2019-07-18 2020-03-27 Steuersystem, steuervorrichtung und steuerverfahren Pending EP4002053A4 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
PCT/JP2019/028261 WO2021009903A1 (ja) 2019-07-18 2019-07-18 ロボットシステム、ロボットの制御方法、サーボシステム
US201962940912P 2019-11-27 2019-11-27
PCT/JP2020/014290 WO2021009976A1 (ja) 2019-07-18 2020-03-27 制御システム、制御装置及び制御方法

Publications (2)

Publication Number Publication Date
EP4002053A1 EP4002053A1 (de) 2022-05-25
EP4002053A4 true EP4002053A4 (de) 2023-12-13

Family

ID=74209787

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20839682.0A Pending EP4002053A4 (de) 2019-07-18 2020-03-27 Steuersystem, steuervorrichtung und steuerverfahren

Country Status (5)

Country Link
US (1) US11750133B2 (de)
EP (1) EP4002053A4 (de)
JP (1) JP7222427B2 (de)
CN (1) CN114127659B (de)
WO (1) WO2021009976A1 (de)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2021049597A (ja) * 2019-09-24 2021-04-01 ソニー株式会社 情報処理装置、情報処理システム及び情報処理方法
CN117916062A (zh) * 2021-09-14 2024-04-19 发那科株式会社 机器人系统及机器人控制装置
KR102642245B1 (ko) * 2023-11-24 2024-02-29 주식회사 나우로보틱스 작업 공간 힘/가속도 외란 관측기 및 이를 포함하는 로봇

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4891764A (en) * 1985-12-06 1990-01-02 Tensor Development Inc. Program controlled force measurement and control system
US5103404A (en) * 1985-12-06 1992-04-07 Tensor Development, Inc. Feedback for a manipulator

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JPH074765B2 (ja) 1986-03-03 1995-01-25 長尾 高明 曲面加工装置
JPS6347058A (ja) 1986-08-13 1988-02-27 Daikin Ind Ltd ロボツトの制御装置
JP2676793B2 (ja) 1988-06-30 1997-11-17 トヨタ自動車株式会社 倣い制御ロボット
US4886529A (en) 1988-07-08 1989-12-12 Showa Precision Machinery Co., Ltd. Polishing robot and polishing method using the same
JPH04135189A (ja) 1990-09-21 1992-05-08 Hitachi Ltd ロボット制御装置
EP1418026A1 (de) 1995-09-11 2004-05-12 Kabushiki Kaisha Yaskawa Denki Robotersteuerung
JP3383614B2 (ja) 1999-08-04 2003-03-04 技術研究組合医療福祉機器研究所 水平多関節型ロボットアームのインピーダンス制御装置
KR100486582B1 (ko) * 2002-10-15 2005-05-03 엘지전자 주식회사 왕복동식 압축기의 스트로크 검출장치 및 방법
US7456592B2 (en) * 2003-12-17 2008-11-25 Lg Electronics Inc. Apparatus and method for controlling operation of reciprocating compressor
JP5120082B2 (ja) * 2008-06-12 2013-01-16 富士電機株式会社 ロボット暴走判定方法およびロボット制御装置
JP5262811B2 (ja) * 2008-10-31 2013-08-14 トヨタ自動車株式会社 車両のバネ上制振制御装置
JP2011125986A (ja) 2009-12-21 2011-06-30 Saito-Seiki Co Ltd 角ブロックの表面研削装置
JP5170175B2 (ja) 2010-06-30 2013-03-27 株式会社安川電機 ロボットシステム
JP5902425B2 (ja) 2011-09-21 2016-04-13 株式会社東芝 ロボット制御装置、外乱判定方法およびアクチュエータ制御方法
US8710777B2 (en) 2012-04-20 2014-04-29 Linestream Technologies Method for automatically estimating inertia in a mechanical system
KR101378824B1 (ko) * 2012-04-20 2014-03-27 라인스트림 테크놀로지스 기계 시스템에서 자동적으로 관성을 추정하기 위한 방법 및 모션 프로파일을 생성하기 위한 방법
JP6136337B2 (ja) 2013-02-15 2017-05-31 株式会社Ihi 姿勢検知制御装置、研磨装置、および、姿勢検知制御方法
JPWO2015025356A1 (ja) 2013-08-19 2017-03-02 株式会社安川電機 モータ駆動システムおよびモータ制御装置
JP2016028842A (ja) 2014-07-17 2016-03-03 株式会社ロボテック アクチュエータシステム
JP6088583B2 (ja) 2015-06-08 2017-03-01 ファナック株式会社 ロボットと力の表示機能を備えたロボット制御装置
JP6431017B2 (ja) * 2016-10-19 2018-11-28 ファナック株式会社 機械学習により外力の検出精度を向上させた人協調ロボットシステム
JP6420298B2 (ja) 2016-12-02 2018-11-07 ファナック株式会社 ロボットを制御するロボット制御装置、およびロボットに加わる外乱値を推定する方法
JP6457569B2 (ja) 2017-02-24 2019-01-23 ファナック株式会社 サーボモータ制御装置、サーボモータ制御方法、及びサーボモータ制御用プログラム
CN107016208B (zh) * 2017-04-17 2021-09-03 珞石（山东）智能科技有限公司 一种基于抖动控制的工业机器人外力估计方法
CN107204726B (zh) * 2017-07-20 2020-03-17 广东美芝制冷设备有限公司 永磁同步电机的控制方法及系统
JPWO2019065427A1 (ja) 2017-09-26 2020-10-15 倉敷紡績株式会社 ロボットハンドシステム制御方法およびロボットハンドシステム

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4891764A (en) * 1985-12-06 1990-01-02 Tensor Development Inc. Program controlled force measurement and control system
US5103404A (en) * 1985-12-06 1992-04-07 Tensor Development, Inc. Feedback for a manipulator

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO2021009976A1 *

Also Published As

Publication number Publication date
US20230006590A1 (en) 2023-01-05
CN114127659B (zh) 2024-02-27
US11750133B2 (en) 2023-09-05
CN114127659A (zh) 2022-03-01
JPWO2021009976A1 (de) 2021-01-21
EP4002053A1 (de) 2022-05-25
WO2021009976A1 (ja) 2021-01-21
JP7222427B2 (ja) 2023-02-15

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